Explorations In A Sensor Fusion Space

Peter K. Allen; Kenneth S. Roberts; Paul Michelman

doi:10.1117/12.948940

5 January 1989 Explorations In A Sensor Fusion Space

Peter K. Allen, Kenneth S. Roberts, Paul Michelman

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948940
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Using a dextrous hand involves understanding the relation-ships between the three kinds of sensor outputs available: joint space positions, tendon forces, and tactile contacts. Dextrous manipulation then is a fusion of these three sensing modalities. This paper is an exploration of using a dextrous, multi-fingered hand (Utah/MIT hand) for high-level object recognition tasks. The paradigm is model-based recognition in which the objects are modeled and recovered as superquadrics, which are shown to have a number of important attributes that make them well suited for such a task. Experiments have been performed to recover the shape of objects using sparse contact point data from the hand kinematics and forces with promising results. We also present our approach to using tactile data in conjunction with the dextrous hand to build a library of grasping and exploration primitives that can be used in recognizing and grasping more complex multi-part objects.

Citation Download Citation

Peter K. Allen, Kenneth S. Roberts, and Paul Michelman "Explorations In A Sensor Fusion Space", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948940

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